Use Windows XP as a print server for a Windows 7 client

I have a older printer (Dell 944) that does not have drivers supported by windows 7. I hooked the printer up to a XP computer (actually in ESXI) and have it printing. I shared this printer, but when I coect to in from windows 7 it says driver not found.

Is there a method to print using a different driver in order to print from the windows 7 machine? My end goal is to have this be a print server that I can access over the inteet and print to.